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Pension and Postretirement Benefits (Details) - USD ($)
$ in Millions
 3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Domestic Plan    
Components of the net periodic cost for retirement and postretirement benefits    
Service cost $ 5.7 $ 5.0
Interest cost 5.4 5.2
Expected return on plan assets (6.0) (6.3)
Amortization of unrecognized prior service cost and other costs 0.0 0.0
Amortization of unrecognized net loss 0.0 0.0
Net periodic cost recognized 5.1 3.9
Foreign Plan    
Components of the net periodic cost for retirement and postretirement benefits    
Service cost 1.3 1.1
Interest cost 3.0 2.9
Expected return on plan assets (1.9) (1.6)
Amortization of unrecognized prior service cost and other costs 0.1 0.1
Amortization of unrecognized net loss 0.6 0.3
Net periodic cost recognized 3.1 2.8
Postretirement Medical Benefits    
Components of the net periodic cost for retirement and postretirement benefits    
Service cost 0.0 0.0
Interest cost 0.2 0.2
Expected return on plan assets 0.0 0.0
Amortization of unrecognized prior service cost and other costs 0.0 0.0
Amortization of unrecognized net loss 0.0 0.0
Net periodic cost recognized $ 0.2 $ 0.2